How to detect if Hinge Joint 2D is in original position?

I've made a door using Hinge Joint 2D for a top down 2d shooter. If the player is near the door and presses E, it runs the below functions based on whether it's open or closed:

 void openDoor(){
     rb.bodyType = RigidbodyType2D.Dynamic;
     doorAudio.PlayOneShot(doorOpen);
     rb.AddForce((transform.position - Player.transform.position) * 100);
     isOpen = true;
     lastOpenTime = Time.time;
 }

 void closeDoor(){
     rb.bodyType = RigidbodyType2D.Kinematic;
     transform.rotation = startingRotation;
     transform.position = startingPosition;
     doorAudio.PlayOneShot(doorLock);
     isOpen = false;
     lastOpenTime = 0.0f;
 }

I would like closeDoor() to happen automatically if the door swings back to its original position. I tried doing this in below code but it doesn't seem to work

 void Start(){
     isOpen = false;
     lastOpenTime = 0.0f;
     startingPosition = transform.position;
     startingRotation = transform.rotation;    
 }
 
 void Update(){
 
     if(transform.position == startingPosition && transform.rotation == startingRotation && isOpen == true && (Time.time - lastOpenTime) > 1){
         closeDoor();
     }
 }

How can I detect if the door has swung back closed?